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WO2021095189A1 - Dispositif de commande de véhicule sans pilote, système de commande de véhicule sans pilote, procédé de commande de véhicule sans pilote et support d'enregistrement - Google Patents

Dispositif de commande de véhicule sans pilote, système de commande de véhicule sans pilote, procédé de commande de véhicule sans pilote et support d'enregistrement Download PDF

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Publication number
WO2021095189A1
WO2021095189A1 PCT/JP2019/044623 JP2019044623W WO2021095189A1 WO 2021095189 A1 WO2021095189 A1 WO 2021095189A1 JP 2019044623 W JP2019044623 W JP 2019044623W WO 2021095189 A1 WO2021095189 A1 WO 2021095189A1
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WO
WIPO (PCT)
Prior art keywords
unmanned aerial
aerial vehicle
activity
activity amount
value
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2019/044623
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English (en)
Japanese (ja)
Inventor
真澄 一圓
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
NEC Corp
Original Assignee
NEC Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by NEC Corp filed Critical NEC Corp
Priority to US17/773,232 priority Critical patent/US12228927B2/en
Priority to JP2021555711A priority patent/JP7435620B2/ja
Priority to PCT/JP2019/044623 priority patent/WO2021095189A1/fr
Publication of WO2021095189A1 publication Critical patent/WO2021095189A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0027—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement involving a plurality of vehicles, e.g. fleet or convoy travelling
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/22—Command input arrangements
    • G05D1/221—Remote-control arrangements
    • G05D1/227—Handing over between remote control and on-board control; Handing over between remote control arrangements
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16Y—INFORMATION AND COMMUNICATION TECHNOLOGY SPECIALLY ADAPTED FOR THE INTERNET OF THINGS [IoT]
    • G16Y10/00—Economic sectors
    • G16Y10/40—Transportation
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16Y—INFORMATION AND COMMUNICATION TECHNOLOGY SPECIALLY ADAPTED FOR THE INTERNET OF THINGS [IoT]
    • G16Y20/00—Information sensed or collected by the things
    • G16Y20/30—Information sensed or collected by the things relating to resources, e.g. consumed power
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16Y—INFORMATION AND COMMUNICATION TECHNOLOGY SPECIALLY ADAPTED FOR THE INTERNET OF THINGS [IoT]
    • G16Y40/00—IoT characterised by the purpose of the information processing
    • G16Y40/30—Control
    • G16Y40/35—Management of things, i.e. controlling in accordance with a policy or in order to achieve specified objectives

Definitions

  • the present invention relates to an unmanned aerial vehicle control device for controlling a plurality of unmanned aerial vehicles, an unmanned aerial vehicle control system, an unmanned aerial vehicle control method, and a recording medium.
  • Patent Document 1 in order to make a robot perform a rational action according to the remaining energy to cause human sympathy, the action characteristic is changed by changing the selection probability from a motion group having different load characteristics according to the remaining battery amount. A way to change it has been proposed.
  • Patent Document 2 proposes a method in which a plurality of robots receive a density function indicating the importance of an area, calculate their own movement vector based on the density function and the movement vector of an adjacent robot, and move to the area.
  • the unmanned aerial vehicle control system includes an unmanned aerial vehicle group including a plurality of unmanned aerial vehicles and a terminal device capable of communicating with the plurality of unmanned aerial vehicles.
  • the input of the constraint condition regarding the activity amount of the unmanned aerial vehicle group is received, the constraint condition is transmitted to the plurality of unmanned aerial vehicles, the unmanned aerial vehicle receives the constraint condition, and the received constraint condition and ,
  • An unmanned aerial vehicle group control system that controls the own aircraft based on the activity status of the own aircraft is provided.
  • the unmanned aerial vehicle is driven by a battery or the like, and the time and amount of activity that can be performed are finite.
  • the amount of activity includes power consumption, total distance traveled, amount of movement per unit time, amount of exercise, and the like. Therefore, in order to reduce battery consumption and maximize the time and amount of activity that can be performed, there is a need to control the amount of activity of the entire unmanned aerial vehicle group according to the activity status of each unmanned aerial vehicle while executing tasks. is there.
  • the receiving means 31 receives the constraint condition transmitted by the terminal device 10 (S501).
  • the control means 32 controls the own machine based on the constraint condition received by the receiving means and the activity status of the own machine (S502).
  • the value calculation means 33 calculates the value of the activity amount of the own machine based on the constraint condition received by the receiving means 31 and the activity status of the own machine (S701).
  • the activity amount calculation means 34 calculates the activity amount of the own machine based on the value of the activity amount of the own machine calculated by the value calculation means, the constraint condition, and the activity status of the own machine (S702).
  • the control means 32 controls the own machine based on the constraint condition, the activity status of the own machine, and the activity amount calculated by the activity amount calculation means (S703).
  • the configurations of the terminal device 10 and the unmanned aerial vehicle 30 are designated by the same reference numerals as those in FIGS. 1 and 6. , Detailed description is omitted. Further, in the following description of the unmanned aerial vehicles 30-1 to 30-6, the unmanned aerial vehicles 30-1 to 30-6 will be referred to as the unmanned aerial vehicles 30. That is, in the following description, the description of the unmanned aerial vehicle 30 shows the description of the unmanned aerial vehicles 30-1 to 30-6.
  • the unmanned aerial vehicle of the unmanned aerial vehicle control system calculates the value of its own aircraft based on the activity status or the amount of activity of other aircraft. As a result, it is possible to control the entire plurality of unmanned aerial vehicles more efficiently.
  • the unmanned aerial vehicle control system according to the present embodiment and the unmanned aerial vehicle control system according to the first to third embodiments are different in that the unmanned aerial vehicle 30 in the present embodiment includes the generation means 36.
  • the receiving means 31 receives the activity status and activity amount of other unmanned aerial vehicles, control information may be received.
  • FIG. 11 is a flowchart showing the flow of processing from the reception of the constraint condition to the control of the unmanned aerial vehicle 30 by the unmanned aerial vehicle 30.
  • the flow of the processing operation of the unmanned aerial vehicle 30 will be described with reference to FIG.
  • the same processes as those in the first to third embodiments are designated by the same reference numerals as those in FIGS. 4, 7, and 9, and the description thereof will be omitted.
  • the generation means 36 generates control information for controlling the own machine based on the activity amount calculated by the activity amount calculation means 34 (S1101).
  • the control means 32 controls the own machine based on the control information generated by the generation means 36 (S1102).
  • the unmanned aerial vehicle control system includes an unmanned aerial vehicle control device 100, a communication network 200, and unmanned aerial vehicles 300-1 to 300-6.
  • the value calculating means 103 calculates the value of the activity amount of the unmanned aerial vehicle 300 based on the activity status received by the receiving means 101 and the constraint condition for receiving the input by the input receiving means 102.
  • the activity amount calculation means 104 calculates the activity amount of the unmanned aerial vehicle 300 based on the value of the activity amount of the unmanned aerial vehicle 300 calculated by the value calculation means 103, the constraint condition, and the activity status of the unmanned aerial vehicle 300. ..
  • the unmanned aerial vehicle control device 100 may include a storage means (not shown).
  • the storage means includes the activity status received by the receiving means 101, the constraint condition for receiving the input by the input receiving means 102, the activity amount of the unmanned aerial vehicle 300 calculated by the activity amount calculating means 104, and the generating means.
  • the control information generated by 105 is stored.
  • the unmanned aerial vehicle 300 shown in FIG. 12 includes a receiving means 301, a control means 302, and a transmitting means 303.
  • the receiving means 301 receives the control information for controlling the own machine from the unmanned aerial vehicle control device 100.
  • the control means 302 controls its own machine based on the control information received by the receiving means 301.
  • the receiving means 101 receives the activity status of the unmanned aerial vehicle 300 (S1301).
  • the input receiving means 102 receives the input of the constraint conditions for the plurality of unmanned aerial vehicles 300 (S1302).
  • the value calculation means 103 calculates the value of the activity amount of the unmanned aerial vehicle 300 based on the activity status and the constraint condition (S1303).
  • the activity amount calculation means 104 calculates the activity amount of the unmanned aerial vehicle 300 based on the value of the activity amount of the unmanned aerial vehicle 300, the constraint condition, and the activity status of the unmanned aerial vehicle 300 (S1304).
  • the series of processes described above may be repeatedly executed at predetermined intervals.
  • the unmanned aerial vehicle control device of the unmanned aerial vehicle control system generates control information for each unmanned aerial vehicle according to the activity status of the plurality of unmanned aerial vehicles. As a result, it is possible to control the entire plurality of unmanned aerial vehicles more efficiently. Further, since the unmanned aerial vehicle control device performs various calculations, the power consumption in the unmanned aerial vehicle can be suppressed.
  • the unmanned aerial vehicle control system in the present embodiment is at least one of the processing operations of the value calculating means 33, the activity amount calculating means 34, and the generating means 36 in the configuration of the unmanned aerial vehicle 30 in the fourth embodiment. Is different from the unmanned aerial vehicle control system in the fourth embodiment in that the processing operation of the above is executed by cloud computing.
  • FIG. 14 is an example of the configuration of the unmanned aerial vehicle control system according to the present embodiment.
  • the unmanned aerial vehicle control system shown in FIG. 14 includes a terminal device 10, communication networks 20-1 and 20-2, and unmanned aerial vehicle 30-1 to 30-6.
  • FIG. 14 shows an unmanned aerial vehicle in the case where the processing operations of the value calculating means 33, the activity amount calculating means 34, and the generating means 36 are executed on the cloud in the configuration of the unmanned aerial vehicle 30 in the fourth embodiment. It is a figure which shows the structure of a control system.
  • the server 41 receives the constraint conditions for the plurality of unmanned aerial vehicles 30 from the terminal device 10.
  • the server 41 receives the activity status of the unmanned aerial vehicle 30 from the unmanned aerial vehicle 30.
  • the server 41 may receive the activity amount of the unmanned aerial vehicle 30 from the unmanned aerial vehicle 30.
  • the server 41 generates control information for controlling the unmanned aerial vehicle 30 based on the constraint conditions, the activity status, and the calculated activity amount.
  • the server 41 transmits the generated control information to the unmanned aerial vehicle 30.
  • the database 42 may store the received activity status, activity amount, and constraint conditions. In addition, the database 42 may store the calculated value and activity amount. Further, the database 42 may store the generated control information.
  • the series of processes described above may be repeatedly executed at predetermined intervals.
  • a part of the processing operations executed by the terminal device, the unmanned aerial vehicle control device, and the unmanned aerial vehicle is executed by cloud computing.
  • the processing of each component may be realized, for example, by the computer system reading and executing a program recorded by a computer-readable recording medium and causing the computer system to execute the processing.
  • the "computer-readable recording medium” includes, for example, portable media such as optical disks, magnetic disks, magneto-optical disks, and non-volatile semiconductor memories, and ROMs (Read Only Memory) and hard disks built in computer systems. It is a recording device.
  • Computer readable recording media include those that can temporarily hold programs such as volatile memory inside a computer system and those that transmit programs such as communication lines such as networks and telephone lines. Including. Further, the above-mentioned program may be for realizing a part of the above-mentioned functions, and may further realize the above-mentioned functions in combination with a program already recorded in the computer system. ..
  • the "computer system” is, for example, a system including a computer 900 as shown in FIG.
  • the computer 900 includes the following configurations. -One or more CPUs (Central Processing Units) 901 -ROM902 -RAM (Random Access Memory) 903 -Program 904A and recording information 904B loaded into RAM903 A recording device 905 that stores the program 904A and the recording information 904B. A drive device 907 that reads and writes the recording medium 906.
  • CPUs Central Processing Units
  • ROM902 -RAM Random Access Memory
  • a recording device 905 that stores the program 904A and the recording information 904B.
  • a drive device 907 that reads and writes the recording medium 906.
  • each component of each device in each embodiment is realized by the CPU 901 loading the program 904A that realizes the function of the component into the RAM 903 and executing the program 904A.
  • the program 904A that realizes the functions of each component of each device is stored in, for example, in the recording device 905 or ROM 902 in advance. Then, the CPU 901 reads out the program 904A as needed.
  • the recording device 905 is, for example, a hard disk.
  • the program 904A may be supplied to the CPU 901 via the communication network 909, or may be stored in the recording medium 906 in advance, read by the drive device 907, and supplied to the CPU 901.
  • the recording medium 906 is a portable medium such as an optical disk, a magnetic disk, a magneto-optical disk, and a non-volatile semiconductor memory.
  • each device may be implemented by a possible combination of a computer 900 and a program that are separate for each component.
  • a plurality of components included in each device may be realized by a possible combination of one computer 900 and a program.
  • each component of each device may be realized by other general-purpose or dedicated circuits, a computer, or a combination thereof. These may be composed of a single chip or may be composed of a plurality of chips connected via a bus.
  • each component of each device when a part or all of each component of each device is realized by a plurality of computers, circuits, etc., the plurality of computers, circuits, etc. may be centrally arranged or distributed. It may be arranged.
  • a computer, a circuit, or the like may be realized as a form in which each of a client-and-server system, a cloud computing system, and the like is connected via a communication network.
  • the unmanned aerial vehicle according to Appendix 1, wherein the control means further controls the own machine based on the activity amount calculated by the activity amount calculation means.
  • the receiving means further receives the activity status of the other unmanned aerial vehicle from the other unmanned aerial vehicle, and receives the activity status of the other unmanned aerial vehicle.
  • the value calculating means calculates the value of the activity amount of the own machine based on the activity status of the other unmanned aerial vehicle received by the receiving means.
  • the unmanned aerial vehicle described in Appendix 2. (Appendix 4)
  • the receiving means further receives the activity amount of the other unmanned aerial vehicle from the other unmanned aerial vehicle, and receives the activity amount of the other unmanned aerial vehicle.
  • the value calculating means calculates the value of the activity amount of the own machine based on the activity amount of the other unmanned aerial vehicle received by the receiving means.
  • the unmanned aerial vehicle described in Appendix 2 or 3. (Appendix 5) A generation means for generating control information for controlling the own machine based on the activity amount, and A transmission means for transmitting control information generated by the generation means to the other unmanned aerial vehicle, and The unmanned aerial vehicle according to Appendix 3 or 4, further comprising.
  • the receiving means receives at predetermined intervals and receives.
  • the value calculation means calculates the value of the activity amount of the own machine at each predetermined period, and then The activity amount calculation means calculates the activity amount of the own machine at each predetermined period.
  • Appendix 7 A group of unmanned aerial vehicles including multiple unmanned aerial vehicles, A terminal device capable of communicating with the plurality of unmanned aerial vehicles, Unmanned aerial vehicle control system including The terminal device is Accepting the input of constraints on the amount of activity of the unmanned aerial vehicle group, The constraint condition is transmitted to the plurality of unmanned aerial vehicles, The unmanned aerial vehicle Upon receiving the constraint, An unmanned aerial vehicle group control system that controls the own aircraft based on the received constraint conditions and the activity status of the own aircraft.
  • Appendix 8 It is a control method executed by an unmanned aerial vehicle belonging to a group of unmanned aerial vehicles including a plurality of unmanned aerial vehicles.
  • Control method (Appendix 9)
  • For unmanned aerial vehicles belonging to a group of unmanned aerial vehicles including multiple unmanned aerial vehicles The process of receiving the constraint condition regarding the activity amount of the unmanned aerial vehicle group, and The process of controlling the own machine based on the received constraint condition and the activity status of the own machine, A recording medium that contains a program that executes.
  • Appendix 10 A control device capable of communicating with unmanned aerial vehicles belonging to a group of unmanned aerial vehicles including multiple unmanned aerial vehicles.
  • a control device comprising.
  • the receiving means further receives the activity status of the other unmanned aerial vehicle from the other unmanned aerial vehicle, and receives the activity status of the other unmanned aerial vehicle.
  • the value calculating means calculates the value of the activity amount of the unmanned aerial vehicle based on the activity status of the other unmanned aerial vehicle received by the receiving means.
  • the control device according to Appendix 10. (Appendix 12)
  • the receiving means further receives the activity amount of the other unmanned aerial vehicle from the other unmanned aerial vehicle, and receives the activity amount of the other unmanned aerial vehicle.
  • the value calculating means calculates the value of the activity amount of the unmanned aerial vehicle based on the activity amount of the other unmanned aerial vehicle received by the receiving means.
  • the control device according to Appendix 10 or 11.
  • Appendix 13 A generation means for generating control information for controlling the unmanned aerial vehicle based on the activity amount calculated by the activity amount calculation means, and a generation means. With more The transmitting means transmits the control means generated by the generating means to the unmanned aerial vehicle.
  • the control device according to any one of Appendix 10 to 12.
  • Unmanned aerial vehicles that belong to the unmanned aerial vehicle group including multiple unmanned aerial vehicles
  • a control device capable of communicating with the unmanned aerial vehicle, Unmanned aerial vehicle control system including The control device is Receive the activity status of the unmanned aerial vehicle, Accepting the input of constraints on the amount of activity of the unmanned aerial vehicle group, Based on the constraint condition and the activity status of the unmanned aerial vehicle, the value of the activity amount of the unmanned aerial vehicle in the unmanned aerial vehicle group is calculated.
  • the activity amount of the unmanned aerial vehicle is calculated based on the value, the constraint condition, and the activity status of the unmanned aerial vehicle.
  • the activity amount sent by the activity amount calculation means is transmitted to the unmanned aerial vehicle.
  • Unmanned aerial vehicle control system Unmanned aerial vehicle control system.
  • An unmanned aerial vehicle control method executed by a control device capable of communicating with an unmanned aerial vehicle belonging to a group of unmanned aerial vehicles including a plurality of unmanned aerial vehicles.
  • Receive the activity status of the unmanned aerial vehicle Accepting the input of constraints on the amount of activity of the unmanned aerial vehicle group, Based on the constraint condition and the activity status of the unmanned aerial vehicle, the value of the activity amount of the unmanned aerial vehicle in the unmanned aerial vehicle group is calculated.
  • the activity amount of the unmanned aerial vehicle is calculated based on the value, the constraint condition, and the activity status of the unmanned aerial vehicle.
  • the activity amount sent by the activity amount calculation means is transmitted to the unmanned aerial vehicle.
  • Unmanned aerial vehicle control method Unmanned aerial vehicle control method.
  • An unmanned aerial vehicle control system that controls unmanned aerial vehicles belonging to a group of unmanned aerial vehicles including multiple unmanned aerial vehicles.
  • An input receiving means for accepting input of constraint conditions related to the amount of activity of the unmanned aerial vehicle group,
  • a control means for controlling the own machine based on the constraint conditions received by the receiving means and the activity status of the own machine.
  • Unmanned aerial vehicle control system including.
  • a value calculation means for calculating the value of the activity amount of the unmanned aerial vehicle in the unmanned aerial vehicle group based on the constraint condition received by the input receiving means and the activity status of the unmanned aerial vehicle received by the receiving means.
  • An activity amount calculation means for calculating the activity amount of the unmanned aerial vehicle based on the value calculated by the value calculation means, the constraint condition, and the activity status of the unmanned aerial vehicle.
  • the unmanned aerial vehicle control system according to Appendix 16, further comprising. (Appendix 18)
  • the receiving means further receives the activity status of the other unmanned aerial vehicle from the other unmanned aerial vehicle, and receives the activity status of the other unmanned aerial vehicle.
  • the value calculating means calculates the value of the activity amount of the unmanned aerial vehicle based on the activity status of the other unmanned aerial vehicle received by the receiving means.
  • the unmanned aerial vehicle control system according to Appendix 16 or 17.
  • the unmanned aerial vehicle control system according to any one of Appendix 16 to 18.
  • the present invention can be applied to solutions and products in which humans and unmanned aerial vehicles and unmanned aerial vehicle groups cooperate and cooperate.
  • Terminal device 11 Input reception means 12 Transmission means 20 Communication network 30 Unmanned aerial vehicle 31 Reception means 32 Control means 33 Value calculation means 34 Activity calculation means 35 Transmission means 36 Generation means 40 Cloud 41 Server 42 Database 11A Send button 11B Send button 3A Check box 3B Unmanned aerial vehicle identifier 3C Communicatable unmanned aerial vehicle identifier 3D Unmanned aerial vehicle group identifier 100 Unmanned aerial vehicle control device 101 Reception means 102 Input reception means 103 Value calculation means 104 Activity calculation means 105 Generation means 106 Transmission means 200 Communication network 300 Unmanned Machine 301 Receiving means 302 Control means 303 Transmitting means 900 Computer 901 CPU 902 ROM 903 RAM 904A Program 904B Recording information 905 Recording device 906 Recording medium 907 Drive device 908 Communication interface 909 Communication network 910 Input / output interface 911 Bus

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  • Radar, Positioning & Navigation (AREA)
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Abstract

Pour qu'un véhicule sans pilote appartenant à un groupe de véhicules sans pilote qui comprend une pluralité de véhicules sans pilote commande le véhicule sans pilote conformément à l'état du groupe entier de véhicules sans pilote, ce dispositif sans pilote est pourvu : d'un moyen de réception destiné à recevoir une état de restriction concernant une quantité d'activité du groupe de véhicules sans pilote ; et d'un moyen de commande destiné à commander le véhicule sans pilote sur la base de l'état de restriction reçu par le moyen de réception et de l'état d'activité du véhicule sans pilote.
PCT/JP2019/044623 2019-11-14 2019-11-14 Dispositif de commande de véhicule sans pilote, système de commande de véhicule sans pilote, procédé de commande de véhicule sans pilote et support d'enregistrement Ceased WO2021095189A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
US17/773,232 US12228927B2 (en) 2019-11-14 2019-11-14 Control of host vehicle of unmanned vehicle group based on constraint condition, activity situation of host vehicle, and activity amount of host vehicle
JP2021555711A JP7435620B2 (ja) 2019-11-14 2019-11-14 無人機、無人機制御システム、制御方法、プログラム及び制御装置
PCT/JP2019/044623 WO2021095189A1 (fr) 2019-11-14 2019-11-14 Dispositif de commande de véhicule sans pilote, système de commande de véhicule sans pilote, procédé de commande de véhicule sans pilote et support d'enregistrement

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PCT/JP2019/044623 WO2021095189A1 (fr) 2019-11-14 2019-11-14 Dispositif de commande de véhicule sans pilote, système de commande de véhicule sans pilote, procédé de commande de véhicule sans pilote et support d'enregistrement

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